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Study of underactuated mechanisms in the presence of holonomic constraints : the constrained Acrobot

DSpace at IIT Bombay

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Title Study of underactuated mechanisms in the presence of holonomic constraints : the constrained Acrobot
 
Creator KATAKE, AB
MAHINDRAKAR, AD
BANAVAR, RN
 
Subject systems
 
Description Underactuated mechanical systems are mechanical systems with fewer actuators than degrees-of-freedom. Examples of underactuated mechanisms of engineering importance are mobile robots, wheeled vehicles and space robotics. One such example of interest is the Acrobot. In this paper the Acrobot is modified so as to impose holonomic constraints on the system. The problem of formulating the equations of motions of the system along with the holonomic constraints using traditional methods is then addressed. An alternate method is then used to incorporate the holonomic constraints. This is followed by design of a control law for the swing up of the Constrained Acrobot.
 
Publisher IEEE
 
Date 2011-10-27T02:28:35Z
2011-12-15T09:11:54Z
2011-10-27T02:28:35Z
2011-12-15T09:11:54Z
2000
 
Type Proceedings Paper
 
Identifier PROCEEDINGS OF IEEE INTERNATIONAL CONFERENCE ON INDUSTRIAL TECHNOLOGY 2000, VOLS 1 AND 2,703-706
0-7803-5812-0
http://dspace.library.iitb.ac.in/xmlui/handle/10054/16210
http://hdl.handle.net/100/2368
 
Source International Conference on Industrial Technology (IEEE ICIT 2000),GOA, INDIA,JAN 19-22, 2000
 
Language English